Huntsberger and Rose [5], of the Jet Propulsion Laboratory (JPL) and the University of

South Carolina (USC), respectively, are working on a behavior-based control system

named BISMARC, or the Biologically Inspired System for Map-based Autonomous

Rover Control, for use with the Mars rover platforms. They utilize a form of path

planning that is derived from the study of human navigation through complex

environments.

1.2.2 Stair Climbing

 For mobile robotic platforms to be useful in urban environments, they need to be able

to easily traverse commonly found terrain features, such as stairways. Several detection

methods are used to enable platform navigation on these non-continuous planar structures

(such as vision-based positioning and edge detection, laser-based edge detection, and the

fusion of several sensor systems). Others have solved the dilemma by manipulating the

physical characteristics of the platform to suite the special needs of a stair-climbing

vehicle.

 Matthies, et al. [6] constructed a small mobile platform capable of performing

reconnaissance duties in urban situations. To meet the stair climbing requirements

associated with this detail, a vision-guided navigation and detection system was

implemented on the robot. A stereovision system was used to detect the forward edges of

individual steps. This information was used to derive the angle of rotation between the

robot and the stairway; and to ensure that the robot was accurately following the stair

heading.

 Lewis and Simo' [7] (Iguana Robotics, Inc.) built a bipedal platform based on the

biomorphic concept capable of stair travel (Figure 1-1). Basically, a biomorphic robot

attempts to mimic the sensory capabilities of animals; sensory input is predicated upon